From 63c551ce130d623f3c6d62f34214ca0156a28e92 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Fri, 15 Jul 2022 21:53:41 +1000
Subject: [PATCH] AP_RPM: add and use AP_RPM_ENABLED

... and backend-specific equivalents
---
 libraries/AP_RPM/AP_RPM.cpp            | 25 +++++++++++------
 libraries/AP_RPM/AP_RPM.h              | 18 +++++++++++-
 libraries/AP_RPM/AP_RPM_config.h       | 38 ++++++++++++++++++++++++++
 libraries/AP_RPM/RPM_Backend.cpp       |  7 ++++-
 libraries/AP_RPM/RPM_Backend.h         |  4 +++
 libraries/AP_RPM/RPM_EFI.cpp           | 10 +++----
 libraries/AP_RPM/RPM_EFI.h             |  6 +++-
 libraries/AP_RPM/RPM_ESC_Telem.cpp     |  4 +++
 libraries/AP_RPM/RPM_ESC_Telem.h       |  4 +++
 libraries/AP_RPM/RPM_Generator.cpp     |  4 +--
 libraries/AP_RPM/RPM_Generator.h       |  5 ++--
 libraries/AP_RPM/RPM_HarmonicNotch.cpp | 16 +++++------
 libraries/AP_RPM/RPM_HarmonicNotch.h   |  4 +++
 libraries/AP_RPM/RPM_Pin.cpp           |  7 ++++-
 libraries/AP_RPM/RPM_Pin.h             |  5 ++++
 15 files changed, 125 insertions(+), 32 deletions(-)
 create mode 100644 libraries/AP_RPM/AP_RPM_config.h

diff --git a/libraries/AP_RPM/AP_RPM.cpp b/libraries/AP_RPM/AP_RPM.cpp
index 9134e1afcb..6a12285acf 100644
--- a/libraries/AP_RPM/AP_RPM.cpp
+++ b/libraries/AP_RPM/AP_RPM.cpp
@@ -14,6 +14,9 @@
  */
 
 #include "AP_RPM.h"
+
+#if AP_RPM_ENABLED
+
 #include "RPM_Pin.h"
 #include "RPM_SITL.h"
 #include "RPM_EFI.h"
@@ -66,36 +69,40 @@ void AP_RPM::init(void)
 
     for (uint8_t i=0; i<RPM_MAX_INSTANCES; i++) {
         switch (_params[i].type) {
-#if CONFIG_HAL_BOARD != HAL_BOARD_SITL
+#if AP_RPM_PIN_ENABLED
         case RPM_TYPE_PWM:
         case RPM_TYPE_PIN:
             // PWM option same as PIN option, for upgrade
             drivers[i] = new AP_RPM_Pin(*this, i, state[i]);
             break;
-#endif
+#endif  // AP_RPM_PIN_ENABLED
+#if AP_RPM_ESC_TELEM_ENABLED
         case RPM_TYPE_ESC_TELEM:
             drivers[i] = new AP_RPM_ESC_Telem(*this, i, state[i]);
             break;
-#if HAL_EFI_ENABLED
+#endif  // AP_RPM_ESC_TELEM_ENABLED
+#if AP_RPM_EFI_ENABLED
         case RPM_TYPE_EFI:
             drivers[i] = new AP_RPM_EFI(*this, i, state[i]);
             break;
-#endif
-#if HAL_GENERATOR_ENABLED
+#endif  // AP_RPM_EFI_ENABLED
+#if AP_RPM_GENERATOR_ENABLED
         case RPM_TYPE_GENERATOR:
             drivers[i] = new AP_RPM_Generator(*this, i, state[i]);
             break;
-#endif
+#endif  // AP_RPM_GENERATOR_ENABLED
+#if AP_RPM_HARMONICNOTCH_ENABLED
         // include harmonic notch last
         // this makes whatever process is driving the dynamic notch appear as an RPM value
         case RPM_TYPE_HNTCH:
             drivers[i] = new AP_RPM_HarmonicNotch(*this, i, state[i]);
             break;
-#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
+#endif  // AP_RPM_HARMONICNOTCH_ENABLED
+#if AP_RPM_SIM_ENABLED
         case RPM_TYPE_SITL:
             drivers[i] = new AP_RPM_SITL(*this, i, state[i]);
             break;
-#endif
+#endif  // AP_RPM_SIM_ENABLED
         }
         if (drivers[i] != nullptr) {
             // we loaded a driver for this instance, so it must be
@@ -301,3 +308,5 @@ AP_RPM *rpm()
 }
 
 }
+
+#endif  // AP_RPM_ENABLED
diff --git a/libraries/AP_RPM/AP_RPM.h b/libraries/AP_RPM/AP_RPM.h
index e54f857dc0..baaf9d1d1f 100644
--- a/libraries/AP_RPM/AP_RPM.h
+++ b/libraries/AP_RPM/AP_RPM.h
@@ -14,6 +14,10 @@
  */
 #pragma once
 
+#include "AP_RPM_config.h"
+
+#if AP_RPM_ENABLED
+
 #include <AP_Common/AP_Common.h>
 #include <AP_HAL/AP_HAL_Boards.h>
 #include <AP_Param/AP_Param.h>
@@ -37,13 +41,23 @@ public:
     // RPM driver types
     enum RPM_Type {
         RPM_TYPE_NONE    = 0,
+#if AP_RPM_PIN_ENABLED
         RPM_TYPE_PWM     = 1,
         RPM_TYPE_PIN     = 2,
+#endif
+#if AP_RPM_EFI_ENABLED
         RPM_TYPE_EFI     = 3,
+#endif
+#if AP_RPM_HARMONICNOTCH_ENABLED
         RPM_TYPE_HNTCH   = 4,
+#endif
+#if AP_RPM_ESC_TELEM_ENABLED
         RPM_TYPE_ESC_TELEM  = 5,
+#endif
+#if AP_RPM_GENERATOR_ENABLED
         RPM_TYPE_GENERATOR  = 6,
-#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
+#endif
+#if AP_RPM_SIM_ENABLED
         RPM_TYPE_SITL   = 10,
 #endif
     };
@@ -110,3 +124,5 @@ private:
 namespace AP {
     AP_RPM *rpm();
 };
+
+#endif  // AP_RPM_ENABLED
diff --git a/libraries/AP_RPM/AP_RPM_config.h b/libraries/AP_RPM/AP_RPM_config.h
new file mode 100644
index 0000000000..b7f92d99a5
--- /dev/null
+++ b/libraries/AP_RPM/AP_RPM_config.h
@@ -0,0 +1,38 @@
+#pragma once
+
+#include <AP_HAL/AP_HAL_Boards.h>
+
+#include <AP_EFI/AP_EFI_config.h>
+#include <AP_Generator/AP_Generator.h>
+
+#ifndef AP_RPM_ENABLED
+#define AP_RPM_ENABLED 1
+#endif
+
+#ifndef AP_RPM_BACKEND_DEFAULT_ENABLED
+#define AP_RPM_BACKEND_DEFAULT_ENABLED AP_RPM_ENABLED
+#endif
+
+#ifndef AP_RPM_EFI_ENABLED
+#define AP_RPM_EFI_ENABLED AP_RPM_BACKEND_DEFAULT_ENABLED && HAL_EFI_ENABLED
+#endif
+
+#ifndef AP_RPM_ESC_TELEM_ENABLED
+#define AP_RPM_ESC_TELEM_ENABLED AP_RPM_BACKEND_DEFAULT_ENABLED
+#endif
+
+#ifndef AP_RPM_HARMONICNOTCH_ENABLED
+#define AP_RPM_HARMONICNOTCH_ENABLED AP_RPM_BACKEND_DEFAULT_ENABLED
+#endif
+
+#ifndef AP_RPM_PIN_ENABLED
+#define AP_RPM_PIN_ENABLED AP_RPM_BACKEND_DEFAULT_ENABLED
+#endif
+
+#ifndef AP_RPM_SIM_ENABLED
+#define AP_RPM_SIM_ENABLED AP_RPM_BACKEND_DEFAULT_ENABLED && AP_SIM_ENABLED
+#endif
+
+#ifndef AP_RPM_GENERATOR_ENABLED
+#define AP_RPM_GENERATOR_ENABLED AP_RPM_BACKEND_DEFAULT_ENABLED && HAL_GENERATOR_ENABLED
+#endif
diff --git a/libraries/AP_RPM/RPM_Backend.cpp b/libraries/AP_RPM/RPM_Backend.cpp
index 9bc03b5596..a22e44102c 100644
--- a/libraries/AP_RPM/RPM_Backend.cpp
+++ b/libraries/AP_RPM/RPM_Backend.cpp
@@ -13,10 +13,13 @@
    along with this program.  If not, see <http://www.gnu.org/licenses/>.
  */
 
+#include "RPM_Backend.h"
+
+#if AP_RPM_ENABLED
+
 #include <AP_Common/AP_Common.h>
 #include <AP_HAL/AP_HAL.h>
 #include "AP_RPM.h"
-#include "RPM_Backend.h"
 
 /*
   base class constructor. 
@@ -27,3 +30,5 @@ AP_RPM_Backend::AP_RPM_Backend(AP_RPM &_ap_rpm, uint8_t instance, AP_RPM::RPM_St
 {
     state.instance = instance;
 }
+
+#endif  // AP_RPM_ENABLED
diff --git a/libraries/AP_RPM/RPM_Backend.h b/libraries/AP_RPM/RPM_Backend.h
index c0a4c8cbcc..7c2726c7ed 100644
--- a/libraries/AP_RPM/RPM_Backend.h
+++ b/libraries/AP_RPM/RPM_Backend.h
@@ -16,6 +16,8 @@
 
 #include "AP_RPM.h"
 
+#if AP_RPM_ENABLED
+
 class AP_RPM_Backend
 {
 public:
@@ -41,3 +43,5 @@ protected:
     AP_RPM &ap_rpm;
     AP_RPM::RPM_State &state;
 };
+
+#endif   // AP_RPM_ENABLED
diff --git a/libraries/AP_RPM/RPM_EFI.cpp b/libraries/AP_RPM/RPM_EFI.cpp
index fcf04cb808..bca16706fc 100644
--- a/libraries/AP_RPM/RPM_EFI.cpp
+++ b/libraries/AP_RPM/RPM_EFI.cpp
@@ -17,12 +17,10 @@
 
 #include "RPM_EFI.h"
 
-#if HAL_EFI_ENABLED
-extern const AP_HAL::HAL& hal;
+#if AP_RPM_EFI_ENABLED
+
+#include <AP_EFI/AP_EFI.h>
 
-/* 
-   open the sensor in constructor
-*/
 AP_RPM_EFI::AP_RPM_EFI(AP_RPM &_ap_rpm, uint8_t _instance, AP_RPM::RPM_State &_state) :
     AP_RPM_Backend(_ap_rpm, _instance, _state)
 {
@@ -41,4 +39,4 @@ void AP_RPM_EFI::update(void)
     state.last_reading_ms = AP_HAL::millis();
 }
 
-#endif // HAL_EFI_ENABLED
+#endif // AP_RPM_EFI_ENABLED
diff --git a/libraries/AP_RPM/RPM_EFI.h b/libraries/AP_RPM/RPM_EFI.h
index b30fbfda3c..a676b1bb67 100644
--- a/libraries/AP_RPM/RPM_EFI.h
+++ b/libraries/AP_RPM/RPM_EFI.h
@@ -15,8 +15,10 @@
 #pragma once
 
 #include "AP_RPM.h"
+
+#if AP_RPM_EFI_ENABLED
+
 #include "RPM_Backend.h"
-#include <AP_EFI/AP_EFI.h>
 
 class AP_RPM_EFI : public AP_RPM_Backend
 {
@@ -30,3 +32,5 @@ public:
 private:
     uint8_t instance;
 };
+
+#endif
diff --git a/libraries/AP_RPM/RPM_ESC_Telem.cpp b/libraries/AP_RPM/RPM_ESC_Telem.cpp
index 03885df3f4..3c4dbd2bd3 100644
--- a/libraries/AP_RPM/RPM_ESC_Telem.cpp
+++ b/libraries/AP_RPM/RPM_ESC_Telem.cpp
@@ -18,6 +18,8 @@
 
 #include "RPM_ESC_Telem.h"
 
+#if AP_RPM_ESC_TELEM_ENABLED
+
 extern const AP_HAL::HAL& hal;
 
 /*
@@ -40,3 +42,5 @@ void AP_RPM_ESC_Telem::update(void)
     state.last_reading_ms = AP_HAL::millis();
 #endif
 }
+
+#endif  // AP_RPM_ESC_TELEM_ENABLED
diff --git a/libraries/AP_RPM/RPM_ESC_Telem.h b/libraries/AP_RPM/RPM_ESC_Telem.h
index 3f0a846dab..df127fb600 100644
--- a/libraries/AP_RPM/RPM_ESC_Telem.h
+++ b/libraries/AP_RPM/RPM_ESC_Telem.h
@@ -17,6 +17,8 @@
 #include "AP_RPM.h"
 #include "RPM_Backend.h"
 
+#if AP_RPM_ESC_TELEM_ENABLED
+
 class AP_RPM_ESC_Telem : public AP_RPM_Backend
 {
 public:
@@ -28,3 +30,5 @@ public:
 private:
     uint8_t instance;
 };
+
+#endif  // AP_RPM_ESC_TELEM_ENABLED
diff --git a/libraries/AP_RPM/RPM_Generator.cpp b/libraries/AP_RPM/RPM_Generator.cpp
index 50e2d3627d..81b087f20f 100644
--- a/libraries/AP_RPM/RPM_Generator.cpp
+++ b/libraries/AP_RPM/RPM_Generator.cpp
@@ -17,7 +17,7 @@
 
 #include "RPM_Generator.h"
 
-#if HAL_GENERATOR_ENABLED
+#if AP_RPM_GENERATOR_ENABLED
 extern const AP_HAL::HAL& hal;
 
 void AP_RPM_Generator::update(void)
@@ -35,4 +35,4 @@ void AP_RPM_Generator::update(void)
     }
 }
 
-#endif // HAL_GENERATOR_ENABLED
+#endif // AP_RPM_GENERATOR_ENABLED
diff --git a/libraries/AP_RPM/RPM_Generator.h b/libraries/AP_RPM/RPM_Generator.h
index 82e8e0ff8d..627fc8ae9c 100644
--- a/libraries/AP_RPM/RPM_Generator.h
+++ b/libraries/AP_RPM/RPM_Generator.h
@@ -18,7 +18,7 @@
 #include "RPM_Backend.h"
 #include <AP_Generator/AP_Generator.h>
 
-#if HAL_GENERATOR_ENABLED
+#if AP_RPM_GENERATOR_ENABLED
 
 class AP_RPM_Generator : public AP_RPM_Backend
 {
@@ -30,5 +30,4 @@ public:
     void update(void) override;
 };
 
-#endif // HAL_GENERATOR_ENABLED
-
+#endif // AP_RPM_GENERATOR_ENABLED
diff --git a/libraries/AP_RPM/RPM_HarmonicNotch.cpp b/libraries/AP_RPM/RPM_HarmonicNotch.cpp
index 6846355f03..144a30bcb6 100644
--- a/libraries/AP_RPM/RPM_HarmonicNotch.cpp
+++ b/libraries/AP_RPM/RPM_HarmonicNotch.cpp
@@ -13,16 +13,13 @@
    along with this program.  If not, see <http://www.gnu.org/licenses/>.
  */
 
+#include "RPM_HarmonicNotch.h"
+
+#if AP_RPM_HARMONICNOTCH_ENABLED
+
 #include <AP_HAL/AP_HAL.h>
 #include <AP_InertialSensor/AP_InertialSensor.h>
 
-#include "RPM_HarmonicNotch.h"
-
-extern const AP_HAL::HAL& hal;
-
-/* 
-   open the sensor in constructor
-*/
 AP_RPM_HarmonicNotch::AP_RPM_HarmonicNotch(AP_RPM &_ap_rpm, uint8_t _instance, AP_RPM::RPM_State &_state) :
     AP_RPM_Backend(_ap_rpm, _instance, _state)
 {
@@ -31,8 +28,8 @@ AP_RPM_HarmonicNotch::AP_RPM_HarmonicNotch(AP_RPM &_ap_rpm, uint8_t _instance, A
 
 void AP_RPM_HarmonicNotch::update(void)
 {
-    AP_InertialSensor& ins = AP::ins();
-    for (auto &notch : ins.harmonic_notches) {
+    const AP_InertialSensor& ins = AP::ins();
+    for (const auto &notch : ins.harmonic_notches) {
         if (notch.params.enabled() &&
             notch.params.tracking_mode() != HarmonicNotchDynamicMode::Fixed) {
             state.rate_rpm = notch.calculated_notch_freq_hz[0] * 60;
@@ -43,3 +40,4 @@ void AP_RPM_HarmonicNotch::update(void)
     }
 }
 
+#endif  // AP_RPM_HARMONICNOTCH_ENABLED
diff --git a/libraries/AP_RPM/RPM_HarmonicNotch.h b/libraries/AP_RPM/RPM_HarmonicNotch.h
index 4817d441a4..78d9a3081f 100644
--- a/libraries/AP_RPM/RPM_HarmonicNotch.h
+++ b/libraries/AP_RPM/RPM_HarmonicNotch.h
@@ -17,6 +17,8 @@
 #include "AP_RPM.h"
 #include "RPM_Backend.h"
 
+#if AP_RPM_HARMONICNOTCH_ENABLED
+
 class AP_RPM_HarmonicNotch : public AP_RPM_Backend
 {
 public:
@@ -29,3 +31,5 @@ public:
 private:
     uint8_t instance;
 };
+
+#endif  // AP_RPM_HARMONICNOTCH_ENABLED
diff --git a/libraries/AP_RPM/RPM_Pin.cpp b/libraries/AP_RPM/RPM_Pin.cpp
index 7336070990..83a0039a71 100644
--- a/libraries/AP_RPM/RPM_Pin.cpp
+++ b/libraries/AP_RPM/RPM_Pin.cpp
@@ -13,9 +13,12 @@
    along with this program.  If not, see <http://www.gnu.org/licenses/>.
  */
 
-#include <AP_HAL/AP_HAL.h>
 #include "RPM_Pin.h"
 
+#if AP_RPM_PIN_ENABLED
+
+#include <AP_HAL/AP_HAL.h>
+
 #include <AP_HAL/GPIO.h>
 #include <GCS_MAVLink/GCS.h>
 
@@ -111,3 +114,5 @@ void AP_RPM_Pin::update(void)
         state.rate_rpm = 0;
     }
 }
+
+#endif  // AP_RPM_PIN_ENABLED
diff --git a/libraries/AP_RPM/RPM_Pin.h b/libraries/AP_RPM/RPM_Pin.h
index 0bc069c681..e196eddc21 100644
--- a/libraries/AP_RPM/RPM_Pin.h
+++ b/libraries/AP_RPM/RPM_Pin.h
@@ -17,6 +17,9 @@
 #include "AP_RPM.h"
 
 #include "RPM_Backend.h"
+
+#if AP_RPM_PIN_ENABLED
+
 #include <Filter/Filter.h>
 #include <AP_Math/AP_Math.h>
 
@@ -46,3 +49,5 @@ private:
                      uint32_t timestamp);
 
 };
+
+#endif  // AP_RPM_PIN_ENABLED